LT5560B - Control method of simulator engine - Google Patents

Abstract

The invention relates to sport and rehabilitation simulators, particularly to control methods of simulator engines. Method is characterized in that measures a position speed of an user element, which is directly affected, and a power ( a moment), which runs mentioned element, controls an engine so that speed of user element in phase of concentric mode of user, in isokinetic mode is equal to determinate speed and a resistance power of mentioned element in isotonic mode is equal to determinatepower , knew is that a moment of an engine in phase of eccentric motion is regulated with and under power (moment) of user element and under a speed . A change of control voltage of an engine moment of a simulator in eccentric motion phase of user within each control cycle is calculated by speed deflection of an engine and by deflection of an user power (moment), for control of engine moment is taking lesser estimated deflection, determinate power (moment) of start eccentric motion of user is equal to theretof

Description

BACKGROUND OF THE INVENTION The invention relates to sports and rehabilitation simulators, and more particularly to the control of simulators using electric actuators as a force element.

Known is a method of controlling a power motor, which, by regulating power supply to an electric motor, produces isokinetic or isotonic, concentric or eccentric motion of the client (trainer). The electric motor is controlled by the measured torque of the handle (lever) in isotonic mode or by motor speed in isokinetic mode. The transition from the concentric phase of motion to the eccentric and vice versa is accomplished at the end of the passage (see U.S. Patent No. 95/26701, A 63 B 24 / 00,1995).

Momentary or velocity control and shifting of the movement phases at the end of the stroke reduce the versatility of the method and limit its functional capabilities. Also, this method does not provide for eccentric motion of the increased force (moment). Eccentric motion of increased strength is useful in some workouts, such as increasing muscle mass. Such a method of eccentric motion training is described in Japanese Patent JP 2006231092, A63 B 22/06, 2006. However, this method does not create concentric motion, which reduces its versatility and limits its application.

The closest to the proposed method is the simulator force motor control mode, which measures the position, velocity, and force (moment) of the client (trainer) directly acting on the element. The force motor is controlled so that in the concentric phase of motion, in the isokinetic mode, the velocity of the client-driven element is equal to the target, and in the isotonic mode the force of the element is equal to the target. The target speed or target force is set constant or dependent on the position of the element directly affected by the client. The eccentric (negative) motion is executed in a task mode or it repeats the force (moment) of the former concentric motion. At the end of each movement a special motion control mode is formed (see U.S. Patent No. 5,993,356 A 63 B21 / 005,1999).

This method is quite versatile and convenient for the client, however, the control of eccentric motion in task mode or by repeating the force (moment) of the former concentric motion limits its functional capabilities.

The object of the present invention is to extend the functional capabilities of the simulator force motor control mode by improving eccentric motion and transition from concentric motion to eccentric control.

This goal is achieved by adjusting the force motor in a simulator force motor control mode, which measures the position, velocity, and force (moment) of the client (tracer) directly acting on the client so that in the concentric phase of the client (tracer) the speed of the element is equal to the task and in the isotonic mode the resistance force (moment) of that element is equal to the task, the motor control is implemented in the eccentric motion phase of the client by adjusting the motor moment according to the force (moment) and velocity. For this purpose, two control voltages are calculated for each control cycle, one based on the motor speed deviation and the other on the force (moment) deviation of the element directly affected by the customer. In events where the element directly affected by the adhesive is rotating, the second control voltage is calculated from the torque deviation of that element. The following describes the force adjustment, and in the case of rotary motion, the torque would be similarly controlled.

U ^ KP ^ GN-G + A-toiaN-GidT-TD ^), (1)

U. = KP.iMN-M + Aj (MN-M} dT-TD. ^), (2) fft here: UgU _m - control voltages for speed and force (moment) regulation;

KPg, - Proportionality factor for speed control, V / (l / s);

KP _m - force proportionality factor, V / N;

TIg,. TI _m - constants for integrating speed and force control, s;

GN, MN - set speed and applied force, 1 / s, N;

TDg, TD _{m -} Differentiation constants of velocity and force regulation, s.

During each control cycle, the two voltages are compared with each other and the control voltage is adjusted to a smaller value.

Such adjustment increases the versatility of the proposed technique and extends the functional capabilities, since eccentric motion can thus be controlled in the isokinetic and isotonic modes equally. In addition, management is secure and user-friendly:

setting a small target torque MN will not exceed this torque, regardless of the speed of motion, and the set speed will not be exceeded regardless of the force.

In order to ensure a smooth transition from concentric motion to eccentric motion, the force exerted on the start of the eccentric motion is forcibly considered equal to the force exerted on the end of the concentric motion in the calculation of control voltages. When an eccentric motion begins, a smooth transition from the force applied to the required eccentric motion is executed by a set law, such as linear. Realizing a smooth transition to eccentric motion enhances the functionality of the proposed mode and makes it more user-friendly.

To form the eccentric motion of the magnified force, the magnitude SO of the eccentric motion force is determined. The limits of this coefficient are 1.0-1.5. When set to SO = 1.0, the force of eccentric motion equals the force of concentric motion, and when set to SO = 1.5, the force of eccentric motion is 1.5 times the applied force of concentric motion. The transition from the concentric motion force force curve to the increased force eccentric motion curve and vice versa is illustrated in Fig.1.

The transition interval ΔΕ, m, of the element directly affected by the transition from one motion to the next (client) is set. Calculate the gradient of the transition characteristic 6S, 1 / m:

6S = SO / ΔΕ. (3)

At the end of the concentric motion (when the speed of the power motor changes from a relatively positive to a relatively negative), the position E2 and the force increase factor S2 corresponding to that position are recorded (concentric motion curves S = 1,0). The applied force MN under regulation shall be calculated as follows:

MN = MNO * S, (4)

S = S ₂ + (E ₂ -E) 5S <SO, (5) where: MNO is the applied concentric motion force, which may be constant or as shown in Figs. 1, dependent on position E;

S - instantaneous force (moment) increase factor;

E is the instantaneous exposure of the client directly to the element, m.

Similarly, at the end of the eccentric motion (when the motor speed changes from a relatively negative to a relatively positive), the position Ei and the force increase factor Si are recorded. The instantaneous force increase coefficient S is given by:

S = Si + (E! -E) 5 S <0, (6)

The applied force at which the adjustment is performed is calculated from equation (4).

Adjusted to the calculated force thus calculated creates an eccentric motion with an easily variable (single coefficient SO) increase of force and ensures a smooth transition from one phase of motion to any position, including positions with a biased transition from one characteristic to another. It should be noted that the transition from one characteristic to another in FIG. 1 is shown in simplified form as linear. In fact, the transition from the given equations is not linear.

The control of eccentric motion of increased force and realization of transitions from one motion phase to another in any stroke position, as described herein, extends the functional capabilities of the proposed mode.

FIG. 1 illustrates the transition from the concentric motion applied force curve MNO to the enhanced force eccentric motion curve MN0 * S0 and vice versa. In this graph: The position of the element directly affected by the client; E _m to _n> E _max - boundary positions; ΔΕ set transition range; MN - task force.

FIG. 2 is a block diagram of a device implementing the proposed method. In this scheme: 1 - power motor; 2 - engine speed gauge; 3 - reducer (in some embodiments, the reducer may not be present); 4 - force meter; 5 - element directly influenced by the client; 6 - position meter; 7 - regulator; 8-controller; 9 - Interface.

The control according to FIG. 1 curves are described above.

In order to implement the proposed method, FIG. In unit 2, motor 1 can be an electric motor of any well-known type, which by its technical characteristics (power, speed, moment) is suitable for a particular simulator and can operate in motor or generator mode, such as DC servo motor, AC induction motor. The choice of motor type 1 depends on the realization of controller 7 - if a DC servo motor is selected, a four-quadrant DC amplifier of the required power and voltage is selected accordingly; if an asynchronous motor is selected then vector control frequency converter in torque control mode is suitable. Engine speed gauge 2 can be a tach generator, encoder or other. Reducer 3 may be worm, cycloid, belted or may not be mounted at all. The force gauge 4 is simply realized on the basis of tensile sensors. The realization of the customer-actuated element 5 depends on the particular simulator: it may be a handle, a lever, a rope. The position meter 6 is any constructively suitable electrical sensor for angle or linear position, such as a potentiometer or linear encoder. Controller 8 is a microprocessor programmable controller based, for example, on the microcontroller MSP 430F149 (Texas Instruments). Controller 8 records a simulator-specific program that implements the essential features of system control described above. Interface 9 is for communication with the controller with higher level controls, such as the interface RS232 for information exchange with the e-gym coach computer. Controller 8 receives a training task via interface 9 (task formation is not an object of the present invention).

Controller 8 reads periodically (during each adjustment cycle) information received from speed meter 2 about instantaneous engine speed, information from force (moment) meter 4 about force applied to client element 5, and from position meter 6 reads information about this element position, processes the scanned information according to the recorded program and sends a control signal to the controller

7. The regulator 7 controls the torque of the motor 1 so that it is proportional to the signal of the controller 8 in both positive and negative areas.

Compared to the prototype, the proposed simulator force motor control method, due to the fact that eccentric motion can be controlled in both isokinetic and isotonic modes, smooth concentric motion transition to eccentric, and increased force eccentric motion control and transition from one motion phase to any stroke position, enhances the versatility and functionality of the proposed method, is safe and convenient for the customer.

Claims (4)

Definition 1. A simulator force motor control method, which measures the position, velocity, and force (momentum) of a customer (trainer) acting directly on a power train so that, in the concentric phase of the customer (trainer), whereas, in the isotonic mode, the resistance force of that element would be equal to the task, except that in the eccentric motion phase of the client, the motor momentum is simultaneously controlled by both the force (moment) and the velocity of the element directly affected by the client. 2. The method of claim 1, wherein, in the eccentric motion phase of the client, the trainer computes a change in motor torque control voltage at each control stroke based on the motor speed deviation and a smaller calculated change to adjust the motor torque. 3. A method according to claims 1-2, characterized in that the applied force (moment) of the eccentric motion of the client is equal to the applied force (moment) of the preceding concentric motion. 4. The method of claims 1-2, wherein the client's eccentric motion target force (moment) is equal to the target factor increased concentric motion target force (moment).